JPH0747986Y2 - Linear carrier - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Object of the Invention] (Industrial field of application) The present invention relates to a linear transfer device using a so-called linear motor.

(Prior Art) An example of this type of linear transport device is shown in FIGS. 10 to 13. Moving body 3 with secondary conductor plate 2 on rail 1
Is provided so as to be movable, a stator 4 is provided at a plurality of portions of the rail 1, and a station 5 is provided corresponding to a predetermined stator 4. The stator 4 is of a double-sided type, and each stator 4 is shown in FIG.
As shown in FIG. 13, it is composed of a stator core 6 and a stator winding 7. The stator winding 7 is wound around the slot 6a of the stator core 6 as shown in FIG.

Then, by generating a moving magnetic field in the stator 4, the moving body 3 that applies a thrust to the secondary conductor plate 2 is moved to carry the object to be transported, and then the moving magnetic field in the opposite direction is applied to the stator 4. Is generated, the secondary conductor plate 2 is braked, the moving body 3 is stopped at the station 5, and the objects to be conveyed are loaded and unloaded. In this case, the speed control of the moving body 3 is such that the thrust is adjusted based on the detection signal from the optical sensor 8 including the light emitting element 8a and the light receiving element 8b provided on the rail 1. That is, the optical sensor 8 detects the passage of the secondary conductor plate 2, and the speed is detected based on the time difference between the detections of the adjacent optical sensors 8. Further, the timing of energization for applying the thrust force and the braking force to the stator 4 is also based on the signal from the speed sensor 8.

(Problem to be Solved by the Invention) However, in the above-mentioned conventional device, since the optical sensor 8 is used as the speed sensor, the light emitting element 8a and the light receiving element 8b may be displaced from each other in the mounting position. Cannot be performed properly, the energization control for the next stator 4 cannot be performed properly, and a predetermined transport speed cannot be obtained. Therefore, it is necessary to attach the light emitting element 8a and the light receiving element 8b with high accuracy, and there is a problem that it takes time to manufacture the entire device. Further, since the moving body 3 is stopped and controlled only by the signal from the optical sensor 8, when the moving body 3 is stopped at the station 5,
The stop position may shift from the proper position.

The present invention has been made in view of the above circumstances, and an object thereof is to be able to accurately detect the traveling speed of a moving body without significantly increasing the mounting accuracy of the speed sensor, and further to stop the moving body. The purpose of the present invention is to provide a linear transfer device that can be controlled accurately.

[Structure of the Invention] (Means for Solving the Problem) The present invention provides a movable body having a secondary conductor plate movably on a rail, and a stator core and a stator winding at a plurality of portions along the rail. In a structure in which a stator made of wire is provided, and the moving body is run by applying thrust to the secondary conductor plate by the stator, an auxiliary winding is wound around the slot of the stator core of the stator. In addition, a permanent magnet is fixed to the secondary conductor plate so as to face the auxiliary winding.

(Operation) When the secondary conductor plate passes through the stator during traveling of the moving body, the permanent magnet of the secondary conductor plate passes through the auxiliary winding,
A voltage is induced in the auxiliary winding. This induced voltage is proportional to the change in magnetic flux, that is, the passing speed of the permanent magnet. Therefore, the permanent magnet and the auxiliary winding can be used as a speed sensor. In this case, unlike a conventional speed sensor including an optical sensor, high accuracy is not required for mounting. Further, if a direct current is applied to the auxiliary winding, it is possible to attract the permanent magnet, so this permanent magnet and the auxiliary winding are
It can also be used as a position control device for the moving body with respect to the stator, so that accurate stop position control of the moving body can be expected.

(Embodiment) Hereinafter, a first embodiment of the present invention will be described with reference to FIGS. 1 to 8.

FIG. 6 shows the entire apparatus. Stator 12 is arranged at a predetermined interval at a plurality of portions along rail 11. A moving body 13 is movably provided on the rail 11. A station 14 is provided corresponding to the predetermined stator 12.

FIG. 4 and FIG. 5 show a concrete configuration. The rail 11 has a cross section of a moving body.
The rail 13 is provided on the rail 11 via wheels 15. Further, a secondary conductor plate 16 made of an aluminum plate or a copper plate, which is long in the traveling direction, is vertically provided on the moving body 13. On the other hand, as shown in FIG. 1, the stator 12 has a stator core 17 facing the secondary conductor plate 16 with a space 8 in which currency can be exchanged, and slots 17a of each stator core 17 (see FIG. 1). (Refer to FIG. 4), and a stator winding 18 wound around.

The principle of the linear motor including the stator 12 and the secondary conductor plate 16 is that a three-phase AC power is supplied to the stator winding 18 to generate a moving magnetic field, and the moving magnetic field causes the secondary conductor plate 16 to move.
The moving body 13 is driven by applying a thrust to it, and the moving magnetic field is changed in the opposite direction to brake the secondary conductor plate 16 and stop the moving body 13.

Now, as shown in FIG. 1, of the slots 17a of the stator core 17, two slots on both end sides in the traveling direction of the moving body 13 are respectively wound with auxiliary windings 19. . The permanent magnets 20 are fitted and attached to the secondary conductor plate 16 at both ends in the traveling direction. The permanent magnet 20 has the same plate thickness as the secondary conductor plate 16,
Teeth 1 between slots 17a, 17a around which auxiliary winding 19 is wound
The auxiliary winding 19 is formed to have substantially the same size as the end face of 7b.
It is fixed at a height position where it can face, especially at a height position where it can face the teeth 17b. As shown in FIG. 3, the permanent magnet 20 has an N pole on the side facing one of the teeth 17b and an S pole on the other side.

In FIG. 7, the control circuit 21 is configured to include a microcomputer, and the control circuit 21 performs constant speed traveling control and stop position control of the moving body 13 using the auxiliary winding 19. That is, when the moving body 13 runs at a constant speed, a voltage is induced in the winding 19 each time the permanent magnet 20 of the secondary conductor plate 16 passes near the auxiliary winding 19 during the running. This induced voltage is proportional to the traveling speed of the moving body 13 as shown in FIG. Therefore, the traveling speed of the moving body 13 is detected by this induced voltage, and the next stator is detected according to the speed.
Controls the energization of the 12 stator windings 18. Further, when the stop position control of the moving body 13 is performed, the secondary conductor plate 16 is braked by the stator winding 18 to substantially stop the moving body 13 at the stator 12, and the auxiliary winding 19 is moved in a predetermined direction. When a direct current is passed, a magnetic pole opposite to the magnetic pole of the permanent magnet 20 is formed on the tooth 17b and the permanent magnet 20 is attracted. As a result, the stop position of the moving body 13 is properly determined. Therefore, the moving body
When the station 13 is stopped at the station 14, the moving body 13 can be stopped without displacement. Further, when the moving body 13 is stopped at the nearest stator 12 when an abnormality occurs in the transport device, the moving body 13 can be properly positioned with respect to each of the stators 12 without any positional deviation. Since the attraction force of the auxiliary winding 19 also acts as a braking force, the auxiliary winding 19 and the permanent magnet 20 can also be used as a brake.

In the above embodiment, the auxiliary winding 19 is arranged in the slot 17a for the stator winding 18 of the stator core 17,
A second embodiment of the present invention may be used as shown in FIG. That is, the stator core 22 of this embodiment is formed with slots 23 for winding the auxiliary windings 19 exclusively, and the auxiliary windings 19 are arranged in the slots 23.

[Advantages of the Invention] As is apparent from the above description, the present invention can wind the auxiliary winding around the slot of the stator core of the stator and can face the auxiliary winding around the secondary conductor plate. Since the permanent magnet is fixed as described above, the permanent magnet and the auxiliary winding can be used as a speed sensor. In this case, unlike a speed sensor including a conventional optical sensor, high accuracy is not required for mounting. Further, the permanent magnet and the auxiliary winding can be used as a position control device for the moving body with respect to the stator, so that accurate stop position control of the moving body can be expected.

[Brief description of drawings]

1 to 8 show a first embodiment of the present invention, FIG. 1 is a cross sectional view taken along line II of FIG. 4, FIG. 2 is a side view of a secondary conductor plate portion, and FIG. 1 is a vertical sectional view taken along line III-III of FIG. 1, FIG. 4 is a vertical sectional front view of a stator portion, FIG. 5 is a side view of the same, FIG. 6 is a plan view of the entire apparatus, and FIG. FIG. 8 is a block diagram showing the electrical configuration, and FIG. 8 is a diagram showing the relationship between the traveling speed and the induced voltage. FIG. 9 is a transverse sectional view of a stator portion showing a second embodiment of the present invention. 10 to 13 show a conventional example, and FIG. 10 corresponds to FIG. 6 and FIG.
The drawing is equivalent to FIG. 4, FIG. 12 is equivalent to FIG. 5, and FIG. 13 is a cross-sectional view of the stator portion. In the figure, 11 is a rail, 12 is a stator, 13 is a moving body, 14 is a station, 16 is a secondary conductor plate, 17 is a stator core, 17a is a slot, 18 is a stator winding, and 19 is an auxiliary winding. , 20 is a permanent magnet, 22 is a stator core, and 23 is a slot.

Claims (1)

[Scope of utility model registration request] 1. A moving body provided with a secondary conductor plate is movably provided on a rail, and stators composed of a stator core and a stator winding are provided at a plurality of portions along the rail, and the stator serves as the above-mentioned means. An auxiliary winding is wound around a slot of a stator core of the stator, and the auxiliary winding is attached to the secondary conductor plate, in which thrust is applied to the secondary conductor plate to drive the moving body. A linear transfer device, in which a permanent magnet is fixed so as to be able to face it.